Fuzzy Logic Navigation and Control of a Non-holonomic Vacuum Cleaner

In this work, a simple fuzzy logic navigation and control design for a non-holonomic robotic vacuum cleaner is presented. The embedded control has been designed by using the Motorola flash microcontroller. A circular cleaning algorithm is used to clean the space, the execution of which is driven according to the underlying philosophy of binary random sequences and obstacle occurrence. Any kind of obstacle is sensed by infra-red detectors before collision may take place. In turn, navigation and control algorithm is redirects the robot cleaner toward some other area in the vicinity while avoiding a possible collision.